US11623622B2ActiveUtilityA1
System and method for emergency braking
Est. expiryDec 27, 2039(~13.5 yrs left)· nominal 20-yr term from priority
Inventors:Cornelius BuerkleJulio Fernando Jarquin ArroyoFabian OborilFlorian GeisslerKay-Ulrich SchollIgnacio Alvarez
B60T 7/12B60T 2210/10B60W 2554/4042B60W 2720/106B60T 13/74B60W 10/18B60T 2201/02B60T 2201/022B60W 2554/802B60T 17/22B60W 30/16B60W 30/09B60T 7/22B60T 8/321
90
PatentIndex Score
5
Cited by
11
References
19
Claims
Abstract
Aspects concern a method for controlling a braking of a vehicle. The method including detecting a braking situation, determining a classification of the braking situation, selecting a braking profile based on the determined classification, and applying a deceleration based on the selected braking profile to maintain a safety distance based on the selected braking profile.
Claims
exact text as granted — not AI-modifiedWhat is claimed is:
1. A method for controlling a braking of a vehicle, the method comprising:
detecting a braking situation;
determining a classification of the braking situation;
selecting a braking profile based on the determined classification, the braking profile selected from one of a normal braking profile and an emergency braking profile; and
applying a deceleration based on the selected braking profile to maintain a safety distance based on the selected braking profile,
wherein a safety distance associated with the normal braking profile is greater than a safety distance associated with the emergency braking profile,
wherein the classification includes a normal braking situation and an emergency braking situation, wherein the normal braking profile corresponding to the normal braking situation comprises a minimum normal safety distance, a minimum normal deceleration, maximum normal deceleration, a normal response time, wherein the emergency braking profile corresponding to the emergency braking situation comprises a minimum emergency safety distance, a minimum emergency deceleration, a maximum emergency deceleration, and an emergency response time, wherein the vehicle has a maximum physical deceleration, and wherein the maximum physical deceleration is greater than or equal to the maximum emergency deceleration and the maximum emergency deceleration is greater than the maximum normal deceleration,
wherein the minimum emergency safety distance is determined based on the emergency response time, a velocity of the vehicle, a velocity of the leading vehicle, the minimum emergency deceleration, the maximum emergency deceleration, and the maximum physical deceleration of the vehicle.
2. The method of claim 1 , further comprising:
dynamically changing from the normal braking profile to the emergency braking profile when the braking situation is classified as the emergency braking situation and using the emergency braking profile only while the emergency braking situation persists; and
applying the deceleration based on the emergency braking profile.
3. The method of claim 1 , wherein the safety distance associated with the emergency braking profile, d emergency , is determined by
d
emergency
=
v
r
ρ
emergency
+
1
2
a
ma
x
,
accel
ρ
emergency
2
+
(
v
r
+
ρ
emergency
a
ma
x
,
accel
)
2
2
a
emergency
,
brake
-
v
f
2
2
a
ma
x
,
brake
,
physics
where ρ emergency is an emergency response time, a max,brake,physics is a maximum physical braking acceleration of the vehicle, a emergency,brake is an emergency braking acceleration, and a max,accel is a maximum acceleration of the vehicle.
4. The method of claim 1 , wherein the maximum emergency deceleration is less than the maximum physical deceleration of the vehicle and wherein the deceleration a r is between the minimum emergency deceleration and the maximum emergency deceleration.
5. The method of claim 4 , wherein the deceleration a r is determined based on
a
r
≥
v
r
2
a
f
2
a
f
d
0
+
v
f
2
,
a
emergency
,
brake
≡
a
r
where d 0 is an initial separation distance between the vehicle and a leading vehicle applying deceleration a f , v f is a velocity of the leading vehicle, and v r is a velocity of the vehicle.
6. A system for controlling a braking of a vehicle, the system comprising:
one or more sensors configured to detect a braking situation;
one or more processors configured to
determine a classification of the braking situation;
select a braking profile based on the determined classification, the braking profile selected from one of a normal braking profile and an emergency braking profile; and
apply a deceleration based on the selected braking profile to maintain a safety distance based on the selected braking profile,
wherein a safety distance associated with the normal braking profile is greater than a safety distance associated with the emergency braking profile,
wherein the classification includes a normal braking situation and an emergency braking situation, wherein the normal braking profile corresponding to the normal braking situation comprises a minimum normal deceleration and maximum normal deceleration, wherein the emergency braking profile corresponding to the emergency braking situation comprises a minimum emergency deceleration and a maximum emergency deceleration, wherein the vehicle has a maximum physical deceleration, and wherein the maximum physical deceleration is greater than or equal to the maximum emergency deceleration and the maximum emergency deceleration is greater than the maximum normal deceleration,
wherein the minimum emergency safety distance is determined based on the emergency response time, a velocity of the vehicle, a velocity of the leading vehicle, the minimum emergency deceleration, the maximum emergency deceleration, and the maximum physical deceleration of the vehicle.
7. The system of claim 6 , wherein the one or more processors are further configured to dynamically change from the normal braking profile to the emergency braking profile when the braking situation is classified as the emergency braking situation and use the emergency braking profile only while the emergency braking situation persists; and apply the deceleration based on the emergency braking profile.
8. The system of claim 6 , wherein the safety distance associated with the emergency braking profile, d emergency , is determined by
d
emergency
=
v
r
ρ
emergency
+
1
2
a
ma
x
,
accel
ρ
emergency
2
+
(
v
r
+
ρ
emergency
a
ma
x
,
accel
)
2
2
a
emergency
,
brake
-
v
f
2
2
a
ma
x
,
brake
,
physics
where ρ emergency is an emergency response time, a max,brake,physics is a maximum physical braking acceleration of the vehicle, a emergency,brake is an emergency braking acceleration, and a max,accel is a maximum acceleration of the vehicle.
9. The system of claim 6 , wherein the maximum emergency deceleration is less than the maximum physical deceleration of the vehicle and wherein the deceleration a r is between the minimum emergency deceleration and the maximum emergency deceleration.
10. The system of claim 9 , wherein the deceleration a r is determined based on
a
r
≥
v
r
2
a
f
2
a
f
d
0
+
v
f
2
,
a
emergency
,
brake
≡
a
r
where d 0 is an initial separation distance between the vehicle and a leading vehicle applying deceleration a f , v f is a velocity of the leading vehicle, and v r is a velocity of the vehicle.
11. A vehicle, comprising:
a braking system;
one or more sensors configured to detect a braking situation;
one or more processors configured to
determine a classification of the braking situation based on information provided the one or more sensors;
select a braking profile based on the determined classification, the braking profile selected from one of a normal braking profile and an emergency braking profile; and
provide the selected braking profile to the braking system, wherein the braking system is configured to apply a deceleration based on the selected braking profile to maintain a safety distance based on the selected braking profile,
wherein a safety distance associated with the normal braking profile is greater than a safety distance associated with the emergency braking profile,
wherein the classification includes a normal braking situation and an emergency braking situation, wherein the normal braking profile corresponding to the normal braking situation comprises a minimum normal deceleration and maximum normal deceleration, wherein the emergency braking profile corresponding to the emergency braking situation comprises a minimum emergency deceleration and a maximum emergency deceleration, wherein the vehicle has a maximum physical deceleration, and wherein the maximum physical deceleration is greater than or equal to the maximum emergency deceleration and the maximum emergency deceleration is greater than the maximum normal deceleration,
wherein the minimum emergency safety distance is determined based on the emergency response time, a velocity of the vehicle, a velocity of the leading vehicle, the minimum emergency deceleration, the maximum emergency deceleration, and the maximum physical deceleration of the vehicle.
12. The method of claim 2 , further comprising:
dynamically changing from the emergency braking profile to the normal braking profile when the emergency braking situation ends; and
applying the deceleration based on the normal braking profile.
13. The method of claim 1 , wherein applying a deceleration based on the emergency braking profile includes dynamically applying a range of deceleration between the minimum emergency deceleration and the maximum emergency deceleration.
14. The method of claim 13 , wherein the deceleration is determined based on the distance between the vehicle and a leading vehicle, the difference in velocity between the vehicles, and the difference in acceleration between the vehicles.
15. The method of claim 1 , wherein the emergency response time is a time that the vehicle requires to determine that a leading vehicle is braking with a deceleration higher than is allowed under the normal braking profile.
16. The method of claim 15 , wherein the minimum normal safety distance is determined based on the normal response time, the velocity of the leading vehicle, the velocity of the vehicle, the minimum normal deceleration, the maximum normal deceleration, and the maximum physical deceleration.
17. The method of claim 16 , wherein the emergency response time is greater than the normal response time.
18. The method of claim 1 , wherein determining the classification of the braking situation is based on a predetermined message received from a leading vehicle.
19. The system of claim 6 , wherein the emergency response time is a time that the vehicle requires to determine that a leading vehicle is braking with a deceleration higher than is allowed under the normal braking profile.Cited by (0)
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